8. Safety system
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 80
CAUTION
Emergency stop buttons are not designed for frequent use. If a button has
been used too many times, it may fail to stop the robot in an emergency
situation, and nearby personnel may be injured by electrical hazards or
collision with moving parts.
• Only press Emergency stop buttons in emergencies.
• Regularly check that all Emergency stop buttons are fully functional—see
Maintenance on page176.
• Use the robot interface to stop the robot in non-emergency situations.
Safety-related functions
The following functions are integrated within the robot itself and cannot be modified or used
with other applications. The following list introduces the main safety-related functions
integrated in MiR100 Hook:
• Collision avoidance
This function ensures that the robot stops before it collides with personnel or an object. If
the laser scanners detect an object or person within a defined Protective field, the robot is
brought to a stop. The function determines what the current speed of the robot is based
on data from the motor encoders, and the function switches between predefined
Protective fields accordingly. The faster the speed, the larger the Protective field is.
• Overspeed avoidance
The safety system monitors if the motor encoder data indicates that the speed of each
motor is above the limits for maximum rated speed. If the limit is exceeded, the robot
enters Protective stop.
• Stability
The safety system monitors if the motor encoder data indicates that the speed difference
between the two motors are above predefined limits. If the limit is exceeded, the robot
enters Protective stop.
• Emergency stop button
MiR Hook 100 has one Emergency stop button. When the button is pressed, the robot goes
into Emergency stop.
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